version: 67.00
glider: 232
mission: 6
dive: 7
start: 8 13 121 4 10 50
data:
$ID,232
$MISSION,6
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,160
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72824
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0045699999
$HD_B,0.0104
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,524.94202
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,450
$PITCH_MAX,3850
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,24
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,80
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2690
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,525
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,47.087383
$FG_AHR_24V,78.366089
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.60475
$PRESSURE_SLOPE,0.00022642814
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,102
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044240318
$SEABIRD_T_H,0.0006469884
$SEABIRD_T_I,2.7191092e-05
$SEABIRD_T_J,3.4398734e-06
$SEABIRD_C_G,-9.9621954
$SEABIRD_C_H,1.1055299
$SEABIRD_C_I,-0.0031133897
$SEABIRD_C_J,0.00029840908
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,130821,035739,7246.335,-15556.594,4,0.8,27,12.7
$_CALLS,3
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.3
$GPS2,130821,041017,7246.280,-15556.303,4,1.2,7,12.7
$SPEED_LIMITS,0.180,0.261
$TGT_NAME,S2
$TGT_LATLONG,7241.000,-15600.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,196.1,9989,-19.5,-10.417,-21.75
$D_GRID,1000
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,129.000000,846.000000,760.000000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,5.62,16386,-145.99,-0.99,0.00,551.1,602.2,500.0,439.1,1917.0,0.00,0.00,0,88.92,81.60,0.00,0.00,0.005,0.000,0.000,1926.66,1904.56,1948.75,438.94,1918.50,0,0,0,15.06,30.00,30.00
$GC,90.03,18727,-145.99,-0.99,80.00,1930.1,1909.1,1951.2,439.0,1918.5,3.67,-2.87,8,147.25,35.51,11.18,5.22,0.005,0.426,0.127,3287.72,3254.88,3320.56,2629.56,3603.75,0,0,0,15.27,15.08,15.08
$GC,310.71,3205,-145.99,-0.90,0.00,3287.2,3256.3,3318.2,2631.8,3603.8,69.37,-29.61,52,321.58,0.00,0.14,5.15,0.000,0.293,0.095,3286.75,3255.69,3317.81,2683.62,1889.81,0,0,0,30.00,15.29,15.45
$GC,510.71,128,-145.99,-0.81,0.00,3286.9,3255.9,3317.9,2684.1,1887.3,122.02,-22.26,73,513.24,0.00,0.00,0.00,0.000,0.000,0.000,3286.50,3255.69,3317.31,2684.44,1887.44,0,0,0,30.00,30.00,30.00
$GC,700.74,2437,-145.99,-0.74,80.00,3286.7,3255.6,3317.8,2684.6,1887.5,160.85,-21.14,92,711.66,0.00,0.19,5.32,0.000,0.282,0.125,3287.59,3256.94,3318.25,2715.75,3604.06,0,0,0,30.00,15.38,15.42
$GC,785.28,1156,-145.99,-0.71,0.00,3286.5,3255.6,3317.4,2715.6,3604.2,176.38,-16.46,109,795.54,0.00,0.00,5.11,0.000,0.000,0.093,3287.78,3257.00,3318.56,2733.56,1889.38,0,0,0,30.00,30.00,15.52
$GC,980.79,388,-145.99,-0.69,80.00,3286.9,3255.6,3318.1,2734.1,1885.8,204.37,-13.72,130,991.61,0.00,0.00,5.32,0.000,0.000,0.124,3288.38,3257.81,3318.94,2713.69,3603.81,0,0,0,30.00,30.00,15.46
$GC,1020.79,3205,-145.99,-0.67,0.00,3286.8,3256.0,3317.7,2714.6,3603.9,209.92,-14.16,138,1031.68,0.00,0.11,5.11,0.000,0.241,0.093,3287.78,3256.88,3318.69,2757.75,1888.69,0,0,0,30.00,15.40,15.46
$GC,1220.82,260,-145.99,-0.67,80.00,3286.9,3255.6,3318.2,2757.6,1882.8,233.31,-11.73,159,1231.65,0.00,0.00,5.32,0.000,0.000,0.125,3290.06,3258.62,3321.50,2737.50,3603.81,0,0,0,30.00,30.00,15.47
$GC,1250.81,1028,-145.99,-0.67,0.00,3286.7,3255.7,3317.8,2738.8,3604.3,236.89,-11.93,165,1261.62,0.00,0.00,5.11,0.000,0.000,0.092,3288.69,3257.19,3320.19,2739.81,1887.19,0,0,0,30.00,30.00,15.48
$GC,1460.85,260,-145.99,-0.67,80.00,3287.0,3256.3,3317.8,2740.4,1882.6,260.38,-10.74,181,1471.21,0.00,0.00,5.32,0.000,0.000,0.125,3287.56,3256.75,3318.38,2721.31,3603.94,0,0,0,30.00,30.00,15.49
$GC,1495.38,1156,-145.99,-0.68,0.00,3287.3,3256.4,3318.3,2720.9,3604.1,264.41,-11.69,188,1503.36,0.00,0.00,5.07,0.000,0.000,0.090,3286.22,3255.31,3317.12,2722.94,1887.94,0,0,0,30.00,30.00,15.58
$GC,1816.75,292,-145.99,-0.68,80.00,3287.1,3256.1,3318.2,2723.1,1887.8,297.95,-10.28,202,1827.10,0.00,0.00,5.32,0.000,0.000,0.128,3288.84,3258.56,3319.12,2702.31,3603.38,0,0,0,30.00,30.00,15.59
$GC,1851.28,3205,-145.99,-0.69,0.00,3286.5,3255.9,3317.0,2703.2,3604.0,301.73,-10.81,209,1859.32,0.00,0.17,5.09,0.000,0.229,0.092,3289.34,3257.50,3321.19,2749.38,1886.50,0,0,0,30.00,15.50,15.51
$GC,2172.76,420,-145.99,-0.72,80.00,3286.8,3256.0,3317.6,2750.6,1880.9,329.50,-8.38,223,2183.10,0.00,0.00,5.31,0.000,0.000,0.128,3288.00,3257.06,3318.94,2732.00,3600.25,0,0,0,30.00,30.00,15.62
$GC,2192.27,1188,-145.99,-0.76,0.00,3286.8,3255.4,3318.1,2731.0,3601.6,331.12,-8.25,227,2200.24,0.00,0.00,5.06,0.000,0.000,0.091,3288.41,3257.69,3319.12,2730.88,1887.25,0,0,0,30.00,30.00,15.69
$GC,2527.78,420,-145.99,-0.79,80.00,3286.4,3255.1,3317.8,2731.8,1887.2,358.95,-8.05,239,2538.14,0.00,0.00,5.32,0.000,0.000,0.129,3286.28,3254.88,3317.69,2710.44,3603.81,0,0,0,30.00,30.00,15.63
$GC,2587.78,1188,-145.99,-0.84,0.00,3286.1,3254.8,3317.4,2710.2,3603.3,364.10,-8.62,251,2598.07,0.00,0.00,5.08,0.000,0.000,0.093,3287.72,3256.75,3318.69,2710.19,1888.31,0,0,0,30.00,30.00,15.69
$GC,2917.81,420,-145.99,-0.87,80.00,3285.2,3252.6,3317.8,2710.0,1886.9,392.67,-8.77,267,2928.15,0.00,0.00,5.32,0.000,0.000,0.128,3284.72,3252.25,3317.19,2688.69,3603.88,0,0,0,30.00,30.00,15.64
$GC,2977.81,1188,-145.99,-0.90,0.00,3284.9,3252.4,3317.4,2689.1,3604.2,398.44,-9.66,279,2988.10,0.00,0.00,5.09,0.000,0.000,0.096,3286.88,3255.06,3318.69,2687.44,1888.44,0,0,0,30.00,30.00,15.70
$GC,3307.84,420,-145.99,-0.91,80.00,3284.0,3250.6,3317.4,2688.5,1888.4,430.05,-9.56,295,3318.17,0.00,0.00,5.34,0.000,0.000,0.132,3286.34,3253.25,3319.44,2666.44,3603.06,0,0,0,30.00,30.00,15.63
$GC,3367.85,1188,-145.99,-0.93,0.00,3283.8,3250.4,3317.3,2666.5,3602.8,436.31,-10.39,307,3378.14,0.00,0.00,5.09,0.000,0.000,0.096,3285.28,3251.25,3319.31,2667.44,1886.19,0,0,0,30.00,30.00,15.70
$GC,3697.83,0,-145.99,-0.93,0.00,3283.2,3248.8,3317.5,2667.5,1885.9,470.70,-10.51,323,3700.36,0.00,0.00,0.00,0.000,0.000,0.000,3282.88,3247.75,3318.00,2667.44,1885.94,0,0,0,30.00,30.00,30.00
$STATE,3997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3997,begin apogee
$GC,4001.08,10243,0.00,-0.21,0.00,3282.9,3247.8,3318.1,2667.7,1833.8,501.57,-10.25,333,4135.64,131.43,0.82,0.12,1.898,0.216,0.199,2685.28,2641.75,2728.81,2904.69,1869.69,0,0,0,11.57,15.53,15.01
$WARN,HSCICON missed fuel gauge read
$STATE,4145,end apogee,CONTROL_FINISHED_OK
$STATE,4145,begin climb
$GC,4145.29,10759,145.99,0.99,-80.00,2685.4,2639.9,2730.9,2904.9,1870.5,503.69,0.00,337,4283.73,128.67,1.23,5.55,1.810,0.128,0.135,2094.69,2062.88,2126.50,3314.12,194.31,0,0,0,11.95,15.15,14.72
$GC,4442.14,21639,145.99,0.89,0.00,2079.7,2053.8,2105.7,3314.3,194.0,447.16,24.58,396,4452.59,0.00,0.28,5.20,0.000,0.306,0.100,2079.34,2052.50,2106.19,3248.31,1858.94,0,0,0,30.00,15.04,15.18
$GC,4772.17,16774,145.99,0.81,80.00,2076.8,2047.2,2106.3,3248.4,1876.4,378.06,20.21,412,4782.48,0.00,0.00,5.26,0.000,0.000,0.128,2079.28,2049.69,2108.88,3248.06,3551.06,0,0,0,30.00,30.00,15.34
$GC,4936.70,21639,145.99,0.72,0.00,2076.6,2047.2,2106.0,3247.1,3552.2,342.62,21.34,445,4947.60,0.00,0.29,5.18,0.000,0.291,0.098,2077.22,2047.75,2106.69,3194.38,1837.88,0,0,0,30.00,15.23,15.45
$GC,5252.19,16514,145.99,0.70,0.00,2074.9,2043.5,2106.4,3193.7,1837.2,297.51,13.24,458,5254.72,0.00,0.00,0.00,0.000,0.000,0.000,2073.72,2042.00,2105.44,3194.19,1837.19,0,0,0,30.00,30.00,30.00
$GC,5582.19,16514,145.99,0.68,0.00,2074.1,2042.4,2105.8,3193.8,1837.4,257.98,11.35,469,5584.73,0.00,0.00,0.00,0.000,0.000,0.000,2073.84,2041.94,2105.75,3194.12,1837.38,0,0,0,30.00,30.00,30.00
$GC,5892.24,8486,211.05,0.76,80.00,2073.8,2041.3,2106.2,3194.2,1837.2,229.95,7.31,494,5955.33,54.38,0.00,5.40,1.595,0.000,0.127,1827.84,1798.56,1857.12,3190.62,3552.06,0,0,0,11.69,30.00,15.27
$GC,6063.31,11431,228.37,0.80,0.00,1822.1,1797.0,1847.1,3191.5,3552.4,214.72,9.59,528,6090.10,16.77,0.05,5.18,1.473,0.189,0.098,1757.62,1732.81,1782.44,3238.75,1836.94,0,0,0,11.91,15.40,15.44
$GC,6278.80,160,229.14,0.81,0.00,1752.0,1721.9,1782.1,3238.5,1836.9,191.67,10.38,552,6281.32,0.00,0.00,0.00,0.000,0.000,0.000,1751.28,1720.62,1781.94,3238.75,1836.94,0,0,0,30.00,30.00,30.00
$GC,6468.82,8354,270.34,0.88,0.00,1750.1,1718.0,1782.1,3238.4,1837.1,173.86,8.45,571,6523.85,52.88,0.00,0.00,1.449,0.000,0.000,1587.34,1560.50,1614.19,3238.31,1836.81,0,0,0,11.76,30.00,30.00
$GC,6708.87,10403,330.44,1.00,0.00,1581.0,1548.9,1613.2,3238.8,1837.2,154.64,7.55,595,6786.35,75.54,0.17,0.00,1.450,0.101,0.000,1342.56,1325.69,1359.44,3305.50,1836.44,0,0,0,11.81,15.40,30.00
$GC,6969.82,8614,334.99,1.04,80.00,1335.9,1312.4,1359.3,3306.1,1836.6,128.16,10.20,621,6985.62,7.11,0.00,5.45,1.082,0.000,0.130,1324.09,1303.50,1344.69,3306.62,3551.25,0,0,0,11.88,30.00,15.19
$GC,7124.36,9382,346.34,1.09,0.00,1321.8,1303.3,1340.4,3306.6,3552.2,111.67,9.88,652,7155.81,21.94,0.00,5.25,1.330,0.000,0.102,1277.84,1262.00,1293.69,3328.69,1839.06,0,0,0,11.92,30.00,15.34
$GC,7339.88,8870,384.21,1.18,-80.00,1274.0,1255.2,1292.9,3328.6,1838.4,92.49,8.61,677,7416.76,67.29,0.00,5.32,1.348,0.000,0.139,1122.41,1118.56,1126.25,3350.12,194.19,0,0,0,11.89,30.00,15.06
$GC,7490.19,11431,436.49,1.35,0.00,1119.8,1120.6,1119.0,3349.6,194.3,80.62,7.92,701,7589.45,90.68,0.16,5.12,1.303,0.099,0.095,911.44,925.38,897.50,3419.56,1873.19,0,0,0,11.96,15.24,15.23
$GC,7775.15,388,436.49,1.38,80.00,906.4,916.2,896.6,3420.1,1873.9,50.11,10.80,739,7785.97,0.00,0.00,5.33,0.000,0.000,0.130,906.22,915.69,896.75,3418.88,3551.69,0,0,0,30.00,30.00,15.25
$GC,7935.17,1156,436.49,1.42,0.00,904.6,916.7,892.4,3419.5,3552.2,32.12,10.96,771,7945.97,0.00,0.00,5.27,0.000,0.000,0.103,904.88,916.56,893.19,3441.44,1839.12,0,0,0,30.00,30.00,15.33
$GC,8135.19,644,436.49,1.45,-80.00,904.5,916.2,892.8,3442.0,1839.7,9.92,11.03,792,8146.01,0.00,0.00,5.24,0.000,0.000,0.142,903.94,916.06,891.81,3463.56,194.00,0,0,0,30.00,30.00,15.37
$GC,8225.21,9382,543.09,1.62,0.00,903.3,916.9,889.8,3463.2,193.1,3.73,5.33,810,8271.48,38.67,0.00,5.05,1.307,0.000,0.093,796.16,818.50,773.81,3463.06,1873.38,0,0,0,11.80,30.00,15.43
$STATE,8272,end climb,SURFACE_DEPTH_REACHED
$STATE,8272,begin surface coast
$FINISH,1.8,1.022674
$STATE,8275,end surface coast,CONTROL_FINISHED_OK
$STATE,8275,begin surface
$SM_CCo,8378.25,82.39,1.260,0,551.1,616.8,485.4,524.67
$SM_GC,1.50,82.39,9.52,0.14,1.260,0.128,0.130,551.1,616.8,485.4,441.4,1928.3,0,0,0,12.06,15.26,15.34
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7250.74,-15605.95,130821,040403
$TCM_TEMP,4.36
$XPDR_PINGS,19,13.0,10.5
$SC_FREEKB,3876000
$RAFOS_CLK,-12
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$HUMID,51.25
$TEMP,1.95
$INTERNAL_PRESSURE,8.20339
$24V_AH,14.26,12.785
$10V_AH,14.52,0.000
$FG_AHR_24Vo,78.707
$FG_AHR_10Vo,47.144
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,884.870,24.285,178.350,0.000,4.750,16.639,2824.405,5645.209,1138.042,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1897.560,426.152,198.848,0.000,420.000,15.000,11.920,2.920,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8274.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.492,0.000,0.000,0.000
$MEM0,60860,1,0,0
$MEM1,65508,1,0,0
$MEM2,997652,32,49136,57
$DATA_FILE_SIZE,22480,820
$CAP_FILE_SIZE,321698,0
$SDSIZE,3918848,3907136
$SDFILEDIR,71,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.109, 32.4,1
$MAGCAL,1.000000,-0.050560,-0.060440,-0.038148,1.107895,-0.047182,-0.046764,0.027565,1.078411,-33.3,852.3,738.8,34,0.0752,0
$IMPLIED_C_PITCH,3010,21.81,419
$IMPLIED_C_VBD,2717,30.134388,419
$GPS,130821,063151,7245.672,-15557.732,48,0.9,62,12.7